相关论文: Advances in Global Solvers for 3D Vision

We describe general heuristics to approximately solve a wide variety of problems with convex objective and decision variables from a nonconvex set. The heuristics, which employ convex relaxations, convex restrictions, local neighbor search…

Many quantities we are interested in predicting are geometric tensors; we refer to this class of problems as geometric prediction. Attempts to perform geometric prediction in real-world scenarios have been limited to approximating them…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

We study the error landscape of deep linear and nonlinear neural networks with the squared error loss. Minimizing the loss of a deep linear neural network is a nonconvex problem, and despite recent progress, our understanding of this loss…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Geometric image transformations that arise in the real world, such as scaling and rotation, have been shown to easily deceive deep neural networks (DNNs). Hence, training DNNs to be certifiably robust to these perturbations is critical.…

Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…

This work presents a unified framework that combines global approximations with locally built models to handle challenging nonconvex and nonsmooth composite optimization problems, including cases involving extended real-valued functions. We…

Modern 3D computer vision leverages learning to boost geometric reasoning, mapping image data to classical structures such as cost volumes or epipolar constraints to improve matching. These architectures are specialized according to the…

We tackle a new problem: generating geometrically consistent multi-view scenes from a single freehand sketch. Freehand sketches are the most geometrically impoverished input one could offer a multi-view generator. They convey scene intent…

Consensus optimization has received considerable attention in recent years. A number of decentralized algorithms have been proposed for {convex} consensus optimization. However, to the behaviors or consensus \emph{nonconvex} optimization,…

This paper presents a practical method for finding the globally optimal solution to the sum-of-ratios problem arising in image processing, engineering and management. Unlike traditional methods which may get trapped in local minima due to…

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…

In this work, we deal with unconstrained nonlinear optimization problems. Specifically, we are interested in methods carrying out updates possibly along directions not of descent, like Polyak's heavy-ball algorithm. Instead of enforcing…

We consider the global optimization of nonconvex mixed-integer quadratic programs with linear equality constraints. In particular, we present a new class of convex quadratic relaxations which are derived via quadratic cuts. To construct…

The demand for semantically rich 3D models of indoor scenes is rapidly growing, driven by applications in augmented reality, virtual reality, and robotics. However, creating them from sparse views remains a challenge due to geometric…

This paper presents a comprehensive review of geometric constraint solving in parametric computer-aided design (CAD), with the major focus on its advances in the last 15 years. Geometric constraint solving can date back to the very first…

The integration of optimization problems within neural network architectures represents a fundamental shift from traditional approaches to handling constraints in deep learning. While it is long known that neural networks can incorporate…

A trademark of nonlinear, time-dependent, convection-dominated problems is the spontaneous formation of non-smooth macro-scale features, like shock discontinuities and non-differentiable kinks, which pose a challenge for high-resolution…

%!TEX root = LCSS_main_max.tex The widespread adoption of nonlinear Receding Horizon Control (RHC) strategies by industry has led to more than 30 years of intense research efforts to provide stability guarantees for these methods. However,…